version: 66.08
glider: 181
mission: 4
dive: 47
start: 9 28 110 2 57 25
data:
$ID,181
$MISSION,4
$DIVE,47
$N_DIVES,60
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51774
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,690
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-37896.812
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2425
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3298
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.178757
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,119
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,92.0
$TM_NFFT,512.0
$TM_NAVG,4.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,280910,025055,2417.242,12608.811,7,2.0,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.6
$GPS2,280910,025658,2417.302,12608.728,12,2.2,31,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,28.6,5019,-22.5,-13.889
$D_GRID,1566
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.89,-155.7,0.0,0.0,0,112,0.00,0.00,-89.80,0.000,2,0.000,0.000,198,2314,2977,0,0,0,0,0,0
$GC,114,-0.89,-155.7,3.6,-6.4,12,148,7.68,2.12,-19.27,0.000,4,0.231,0.055,2118,3699,3935,0,0,0,0,0,0
$GC,184,-0.70,-155.7,30.7,-48.3,22,193,0.25,2.12,0.00,0.000,6,0.184,0.031,2190,2304,3935,0,0,0,0,0,0
$GC,517,-0.66,-155.7,138.1,-22.3,83,525,0.00,2.15,0.00,0.000,4,0.000,0.043,2186,3688,3935,0,0,0,0,0,0
$GC,662,-0.67,-155.7,165.4,-16.7,109,669,0.00,2.08,0.00,0.000,6,0.000,0.028,2182,2283,3937,0,0,0,0,0,0
$GC,993,-0.65,-155.7,235.7,-19.7,170,1001,0.12,2.08,0.00,0.000,4,0.167,0.035,2214,904,3938,0,0,0,0,0,0
$GC,1040,-0.70,-155.7,243.9,-16.1,178,1048,0.00,2.10,0.00,0.000,6,0.000,0.034,2207,2288,3935,0,0,0,0,0,0
$GC,1370,-0.73,-155.7,291.8,-14.9,239,1377,0.00,2.17,0.00,0.000,4,0.000,0.045,2196,3721,3937,0,0,0,0,0,0
$GC,1432,-0.80,-155.7,300.5,-13.8,250,1440,0.00,2.12,0.00,0.000,6,0.000,0.029,2196,2296,3937,0,0,0,0,0,0
$GC,1758,-0.83,-155.7,348.2,-14.6,281,1760,0.12,0.00,0.00,0.000,6,0.084,0.000,2132,2294,3937,0,0,0,0,0,0
$GC,2077,-0.80,-155.7,409.7,-19.3,311,2082,0.12,2.17,0.00,0.000,4,0.174,0.047,2154,3713,3935,0,0,0,0,0,0
$GC,2196,-0.83,-155.7,428.3,-13.6,321,2204,0.00,2.10,0.00,0.000,6,0.000,0.030,2154,2289,3934,0,0,0,0,0,0
$GC,2523,-0.85,-155.7,476.4,-14.7,352,2527,0.00,2.20,0.00,0.000,4,0.000,0.048,2145,3714,3932,0,0,0,0,0,0
$GC,2572,-0.87,-155.7,483.7,-13.9,356,2576,0.00,2.10,0.00,0.000,6,0.000,0.031,2145,2301,3931,0,0,0,0,0,0
$STATE,2673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2673,begin apogee
$GC,2678,-0.16,0.0,500.4,16.8,365,2801,0.68,0.00,116.70,0.860,6,0.127,0.000,2368,1973,3298,0,0,0,0,0,0
$STATE,2802,end apogee,CONTROL_FINISHED_OK
$STATE,2802,begin climb
$GC,2803,0.89,155.7,506.9,0.0,375,2934,0.90,2.33,120.72,0.844,4,0.039,0.041,2723,3412,2662,0,0,0,0,0,0
$GC,2958,0.77,187.0,507.6,12.0,388,2996,0.25,2.17,25.90,0.802,6,0.197,0.033,2677,2007,2534,0,0,0,0,0,0
$GC,3312,0.68,187.0,452.5,14.6,421,3317,0.12,2.20,0.00,0.000,4,0.191,0.047,2641,3415,2526,0,0,0,0,0,0
$GC,3387,0.61,187.0,441.0,16.1,427,3391,0.00,2.12,0.00,0.000,6,0.000,0.031,2651,1993,2529,0,0,0,0,0,0
$GC,3713,0.59,220.9,398.9,11.9,457,3745,0.12,2.30,25.60,0.786,4,0.195,0.044,2617,3416,2398,0,0,0,0,0,0
$GC,3761,0.61,259.2,392.9,11.6,460,3797,0.00,2.17,31.27,0.776,6,0.000,0.032,2626,2006,2241,0,0,0,0,0,0
$GC,4122,0.62,263.7,341.4,13.6,494,4137,0.00,2.22,3.75,0.463,4,0.000,0.045,2626,3413,2223,0,0,0,0,0,0
$GC,4198,0.60,263.7,330.1,14.6,500,4206,0.00,2.15,0.00,0.000,6,0.000,0.032,2636,2002,2221,0,0,0,0,0,0
$GC,4528,0.59,263.7,284.4,14.1,541,4535,0.00,2.12,0.00,0.000,4,0.000,0.042,2647,593,2219,0,0,0,0,0,0
$GC,4547,0.57,265.7,281.6,13.8,544,4558,0.10,2.15,3.00,0.356,6,0.152,0.035,2616,2002,2214,0,0,0,0,0,0
$GC,4893,0.66,324.5,241.5,10.4,605,4949,0.00,2.22,45.88,0.706,4,0.000,0.044,2616,3395,1974,0,0,0,0,0,0
$GC,5056,0.73,355.0,222.1,12.1,632,5086,0.08,2.15,24.60,0.664,6,0.061,0.033,2670,2003,1850,0,0,0,0,0,0
$GC,5426,0.72,355.0,163.3,15.3,696,5434,0.00,2.17,0.00,0.000,4,0.000,0.042,2682,593,1843,0,0,0,0,0,0
$GC,5448,0.72,355.0,160.1,16.2,699,5455,0.00,2.12,0.00,0.000,6,0.000,0.034,2682,2006,1843,0,0,0,0,0,0
$GC,5782,0.72,355.0,105.9,14.4,760,5790,0.00,2.15,0.00,0.000,4,0.000,0.044,2681,3393,1842,0,0,0,0,0,0
$GC,5853,0.72,355.0,95.3,14.6,772,5861,0.10,2.12,0.00,0.000,6,0.143,0.032,2659,1996,1841,0,0,0,0,0,0
$GC,6185,0.89,446.1,60.5,8.4,833,6264,0.15,2.25,67.25,0.568,4,0.077,0.043,2734,3398,1477,0,0,0,0,0,0
$GC,6379,0.90,446.1,32.5,15.2,864,6387,0.00,2.15,0.00,0.000,6,0.000,0.031,2744,2000,1473,0,0,0,0,0,0
$STATE,6561,end climb,SURFACE_DEPTH_REACHED
$STATE,6561,begin surface coast
$FINISH,0.5,1.021676
$STATE,6579,end surface coast,CONTROL_FINISHED_OK
$STATE,6579,begin surface
$SM_CCo,6600,108.12,0.058,0,0,485,690.03
$SM_GC,1.31,0.00,0.00,108.12,0.000,0.000,0.058,202,2314,485,-6.96,0.40,690.03
$IRIDIUM_FIX,2406.29,12557.82,280910,000033
$TT8_MAMPS,0.027713
$HUMID,44.88
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.6,9.456
$10V_AH,10.3,9.736
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.350,65.700,464.675,108.125,0.000,27.603,14.273,182.033,0.250,0.000,34.954,2152.937,1624.670,606.028,2554.632,139.031,0.000,1455.210,0.000,1384.513,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,55.080,859.860,58.140,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,606.000,1369.428,1648.603,0.000,0.000,0.000,2241.547,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331588
$DATA_FILE_SIZE,63739,900
$CAP_FILE_SIZE,96280,0
$CFSIZE,260165632,246738944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,300.8,1
$GPS,280910,045030,2418.334,12608.813,41,1.0,41,-3.7